For dataset, in this experiment, we use our own dataset. Actually, there are some publicly available lane detection datasets. For example, CULane [1]} and TuSimple lane detection [2]} datasets are widely used in many academic papers. We can convert lane detection dataset to lane number dataset as we mentioned in Section REF . However, in our study, we did not use these open source lane detection datasets. This is because our approach utilizes the image at frame \(t \pm n\)  but these datasets do not provide this data.
